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Humanoid Path Planner
talos-rbprm
Commits
29f49555
Commit
29f49555
authored
Sep 15, 2020
by
Pierre Fernbach
Committed by
Pierre Fernbach
Jun 22, 2021
Browse files
Reduce root Height in reference config
parent
cd8cfaec
Changes
2
Hide whitespace changes
Inline
Side-by-side
talos_rbprm/talos.py
View file @
29f49555
...
...
@@ -40,7 +40,7 @@ class Robot(Parent):
referenceConfig
=
[
0.0
,
0.0
,
1.0
225
,
1.0
1977
,
0.0
,
0.0
,
0.0
,
...
...
@@ -82,7 +82,11 @@ class Robot(Parent):
referenceConfig_elbowsUp
=
[
0.0
,
0.0
,
<<<<<<<
cba7912482150ad26b98838e76e365360853dd49
1.0225
,
=======
1.01977
,
>>>>>>>
Reduce
root
Height
in
reference
config
0.0
,
0.0
,
0.0
,
...
...
@@ -124,7 +128,11 @@ class Robot(Parent):
referenceConfig_legsApart
=
[
0.0
,
0.0
,
<<<<<<<
cba7912482150ad26b98838e76e365360853dd49
1.0225
,
=======
1.01977
,
>>>>>>>
Reduce
root
Height
in
reference
config
0.0
,
0.0
,
0.0
,
...
...
@@ -166,7 +174,11 @@ class Robot(Parent):
referenceConfig_armsFront
=
[
0.0
,
0.0
,
<<<<<<<
cba7912482150ad26b98838e76e365360853dd49
1.0225
,
=======
1.01977
,
>>>>>>>
Reduce
root
Height
in
reference
config
0
,
0.0
,
0.0
,
...
...
talos_rbprm/talos_abstract.py
View file @
29f49555
...
...
@@ -25,7 +25,7 @@ class Robot(Parent):
legX
=
0.1
legY
=
0.06
ref_height
=
1.0
225
ref_height
=
1.0
1977
# reference position of the end effector position for each ROM
ref_EE_lLeg
=
[
-
0.008846952891378526
,
0.0848172440888579
,
-
1.01977
]
ref_EE_lLeg
[
0
]
=
0.
# assure symetry of dynamic constraints on flat ground
...
...
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